Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

69 Citations (Scopus)

Abstract

In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers. The surface of the planetary body is largely covered with powdery soil. On such loose soil, the wheel slippage which will make the rover get stuck must be concerned. Since the slippage dynamically depends on the posture/velocity of vehicle, soil characteristics, and wheel-soil interactions, it becomes difficult issues to incorporate the wheel slip dynamics as a criterion into path-planning algorithms. To tackle the slippage problem, the authors develop the path-planning algorithm and the path-evaluation method based on the following approach. First, a path on a rough terrain is generated with the terrain-based criteria function. Subsequently, the dynamics simulation of a rover is carried out in which the rover is controlled to follow the candidate path. Finally, the path is properly evaluated based on the slip motion profiles calculated by the simulation. Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the slip motion profile of the rover.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2361-2366
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics'. Together they form a unique fingerprint.

  • Cite this

    Ishigami, G., Nagatani, K., & Yoshida, K. (2007). Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 2361-2366). [4209436] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363672